Rotatable device and joint module

Abstract

The invention relates to a rotatable device and a joint module, and the joint module comprises a rotating shaft which can drive a load to rotate synchronously; the driving wheel is rotatably mounted on the rotating shaft; the power piece is in transmission connection with the driving wheel, when the power piece outputs power, driving force enabling the driving wheel to rotate relative to the rotating shaft is applied to the driving wheel, and when the power piece does not output power, the power piece and the driving wheel can be mutually locked; the clutch assembly comprises a first component and a second component, and the first component is connected with the driving wheel and can synchronously rotate relative to the rotating shaft; the rotating motion of the second component relative to the rotating shaft is locked; the first component and the second component are switched between a separation state and a combination state; in the separated state, the driving wheel and the rotating shaft can rotate relatively, so that the driving wheel can rotate relative to the rotating shaft; and in the combined state, the relative rotation movement between the driving wheel and the rotating shaft is locked, so that the driving wheel and the rotating shaft can rotate synchronously. The rotatable device and the joint module have the automatic rotation function and the manual rotation function at the same time.

Description

Technical Field

[0001] The present application relates to the technical field of rotary joints, and in particular to a rotatable device and a joint module. Background Art

[0002] In the related art, in some electronic or mechanical devices, two components are connected by a joint module to achieve relative rotation between the two components. However, currently the joint module can only achieve the automatic rotation function, but not the manual rotation function, which cannot meet user needs. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present application provides a rotatable device and a joint module, which can have both automatic rotation and manual rotation functions.

[0004] According to a first aspect of the present application, a rotatable device is provided, comprising a load and a joint module; the joint module comprises:

[0005] A rotating shaft, configured to drive the load to rotate synchronously;

[0006] a driving wheel rotatably mounted on the rotating shaft;

[0007] a power member, drivingly connected to the driving wheel, the power member being configured to apply a driving force to the driving wheel to rotate the driving wheel relative to the rotating shaft when outputting power, and being mutually locked with the driving wheel when not outputting power; and

[0008] A clutch assembly, comprising a first member and a second member, wherein the first member is configured to be connected to the driving wheel and can rotate relative to the rotating shaft synchronously with the driving wheel; the second member is configured to be connected to the rotating shaft and the rotational movement relative to the rotating shaft is locked;

[0009] The first member and the second member are configured to be switchable between a separated state and a combined state; wherein

[0010] In the separated state, the first member and the second member can rotate relative to each other, so that the driving wheel can rotate relative to the rotating shaft;

[0011] In the combined state, the relative rotational movement between the first member and the second member is locked, so that the driving wheel and the rotating shaft can rotate synchronously.

[0012] In one embodiment of the present application, the first component includes a first friction plate, and the second component includes a second friction plate. The first friction plate and the second friction plate are both coaxially arranged with the rotating shaft, and are frictionally matched with each other.

[0013] In one embodiment of the present application, the first friction plate includes a first mating end face for frictionally mating with the second friction plate, and the second friction plate includes a second mating end face for frictionally mating with the first friction plate; wherein, one of the first mating end face and the second mating end face has a plurality of first protrusions distributed at intervals along the circumferential direction, and the other has a plurality of first recesses distributed at intervals along the circumferential direction for the first protrusions to be embedded in, wherein the first protrusions can be embedded in or out of the first recesses.

[0014] In one embodiment of the present application, the second friction plate is configured to be axially movable relative to the rotating shaft;

[0015] The clutch assembly also includes: an elastic damping member, which is limited and stopped along one side of the axial direction of the rotating shaft, and the other end of the elastic damping member along the axial direction of the rotating shaft abuts against the second friction plate to apply an elastic force directed to the first friction plate to the second friction plate.

[0016] In one embodiment of the present application, the clutch assembly also includes an axial limit stop, which is connected to the rotating shaft and locked in axial movement relative to the rotating shaft; along the axial direction of the rotating shaft, the second friction plate is located between the first friction plate and the axial limit stop, and the elastic damping member is pressed between the axial limit stop and the second friction plate.

[0017] In one embodiment of the present application, the clutch assembly also includes a circumferential limit stop, which is constructed to be sleeved on the rotating shaft and locked in circumferential movement relative to the rotating shaft; the second friction plate is sleeved outside the circumferential limit stop; wherein, a first limit portion is provided on one of the inner circumferential surface of the second friction plate and the outer circumferential surface of the circumferential limit stop, and a first limit adapter portion is provided on the other, and the first limit portion cooperates with the first limit adapter portion to lock the circumferential movement of the second friction plate relative to the rotating shaft.

[0018] In one embodiment of the present application, one of the first component and the second component includes a dividing plate, and the other includes an annular frame; the annular frame and the dividing plate are both coaxially arranged with the rotating shaft, and the annular frame is arranged around the circumferential periphery of the dividing plate, and second protrusions are spaced apart on one of the inner circumferential surface of the annular frame and the outer circumferential surface of the dividing plate, and radial telescopic portions are spaced apart on the other, wherein the radial telescopic portions can be embedded in or detached from the second protrusions.

[0019] In one embodiment of the present application, the radially telescopic portion includes a deformable member, and the deformable member is configured to be compressibly deformed when subjected to a radial force along the indexing disk, so that the radially telescopic portion can be separated from the second protrusion.

[0020] In one embodiment of the present application, the deformable member is further configured to be pre-compressed when embedded in the second protrusion to provide a pre-clamping force for clamping the indexing plate and the annular frame.

[0021] In one embodiment of the present application, the radially telescopic portion includes an elastically deformable member.

[0022] In one embodiment of the present application, the driving wheel includes a gear member with gear teeth arranged circumferentially, and the joint module further includes a transmission assembly, the transmission assembly is meshed with the gear member, and the transmission assembly is configured to be driven by the power member to drive the driving wheel to rotate; or,

[0023] The driving wheel includes a first pulley, and the joint module also includes a transmission assembly, the transmission assembly includes a second pulley and a transmission belt, the first pulley and the second pulley are connected via a transmission belt, and the second pulley is configured to be driven to rotate by the power member.

[0024] In one embodiment of the present application, the output end of the power member is constructed as a worm; the transmission assembly includes a first transmission gear, and the first transmission gear is constructed as a turbine transmission connected to the worm.

[0025] In one embodiment of the present application, the joint module also includes two support members arranged at intervals along the axial direction of the rotating shaft, the support members are provided with axial holes, the rotating shaft is rotatably installed in the axial holes of the two support members through rotating bearings, and the power member is fixed to one of the support members.

[0026] In one embodiment of the present application, the joint module also includes: a magnetic component and a magnetic encoder, the magnetic component is arranged on one of the rotating shaft and the supporting component, and the magnetic encoder is arranged on the other of the rotating shaft and the supporting component. As the rotating shaft rotates, the magnetic component and the magnetic encoder rotate relative to each other.

[0027] In one embodiment of the present application, a second limiting portion is provided on the outer circumference of the rotating shaft, and a second limiting adapter portion is provided on the inner circumference of the shaft hole of the supporting member, and the second limiting portion cooperates with the second limiting adapter portion to limit the rotation angle of the rotating shaft relative to the supporting member.

[0028] According to a second aspect of the present application, the present application provides a joint module, comprising:

[0029] A rotating shaft, configured to drive the load to rotate synchronously;

[0030] a driving wheel rotatably mounted on the rotating shaft;

[0031] a power member, drivingly connected to the driving wheel, the power member being configured to apply a driving force to the driving wheel to rotate the driving wheel relative to the rotating shaft when outputting power, and being mutually locked with the driving wheel when not outputting power; and

[0032] A clutch assembly, comprising a first member and a second member, wherein the first member is configured to be connected to the driving wheel and can rotate relative to the rotating shaft synchronously with the driving wheel; the second member is configured to be connected to the rotating shaft and the rotational movement relative to the rotating shaft is locked;

[0033] The first component and the second component are also configured to have a separation state and a combination state between them; wherein

[0034] In the separated state, the first member and the second member can rotate relative to each other, so that the driving wheel can rotate relative to the rotating shaft;

[0035] In the combined state, the relative rotational movement between the first member and the second member is locked, so that the driving wheel and the rotating shaft can rotate synchronously.

[0036] One beneficial effect of the present application is that in the rotatable device and joint module provided in the embodiments of the present application, the rotating device includes a load and a joint module, the joint module includes a rotating shaft, a driving wheel, a power member and a clutch assembly, the power member can drive the driving wheel when outputting power, and is locked with the driving wheel when not outputting power; the clutch assembly includes a first component and a second component, the first component is constructed to be connected to the driving wheel, and can rotate synchronously with the driving wheel relative to the rotating shaft; the second component is constructed to be connected to the rotating shaft, and the rotational movement relative to the rotating shaft is locked, and the first component and the second component can be separated or combined.

[0037] In this way, when the power piece outputs power, driving force is applied to the driving wheel, and the first component connected to the driving wheel is subjected to a deflection torque. At this time, the first component and the second component can be in a combined state, and the first component can transfer the deflection torque to the second component. Since the second component is connected to the rotating shaft and the rotational movement relative to the rotating shaft is locked, the second component will transfer the deflection torque to the rotating shaft, thereby driving the rotating shaft to rotate, thereby realizing the function of automatically rotating the load; when the power piece does not output power, the driving wheel and the power piece are locked with each other (that is, relatively stationary). If the user manually rotates the load, the rotating shaft connected to the load is subjected to a deflection torque and transfers the deflection torque to the second component. At this time, if the first component and the second component are in a separated state, the second component can rotate relative to the first component, thereby realizing the function of manually rotating the load.

[0038] It can be seen that the rotatable device and joint module provided in the embodiment of the present application, by setting a clutch component in the joint module, enable the joint module to have both manual rotation and automatic rotation functions, and the structure is simple.

[0039] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0041] Figure 1 is a schematic diagram of the decomposed structure of a joint module provided by an embodiment of the present application;

[0042] Figure 2 This is a schematic diagram of the overall assembly structure of a joint module provided by an embodiment of the present application;

[0043] Figure 3 is an axial cross-sectional view of a joint module provided by an embodiment of the present application;

[0044] Figure 4 is a schematic diagram of the decomposed structure of a joint module provided in another embodiment of the present application;

[0045] Figure 5 is a schematic structural diagram of a power component and a transmission assembly in a joint module provided in another embodiment of the present application;

[0046] Figure 6 It is a schematic diagram of the assembly structure of the indexing plate, the annular frame and the driving wheel in the joint module provided in another embodiment of the present application;

[0047] Figure 7It is a schematic diagram of the assembly structure of the indexing plate and the annular frame in the joint module provided by another embodiment of the present application;

[0048] Figure 8 is a schematic diagram of the assembly structure of a joint module provided in another embodiment of the present application;

[0049] Fig. 9 is a schematic diagram of an assembly structure of a joint module provided in another embodiment of the present application, wherein the supporting member is not shown;

[0050] Fig.10 An axial cross-sectional view of a joint module provided in another embodiment of the present application.

[0051] Figures 1 to 10 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0052] 10. Rotating shaft; 11. Mounting plate; 12. Second limiting part; 20. Driving wheel; 21. Gear member; 22. First pulley; 30. Power member; 31. Worm; 40. Clutch assembly; 41. First component; 42. Second component; 411. First friction plate; 421. Second friction plate; 430. Elastic damping member; 440. Limiting sleeve; 441. Axial limiting stopper; 442. Circumferential limiting stopper; 4111. First convex part; 4211. First concave part; 4212. First limiting part; 4421. First limiting adapter; 412. Indexing plate; 422. Ring frame ; 4121, second convex portion; 4122, second concave portion; 4221, radial expansion portion; 4221', elastic deformable member; 50, transmission assembly; 51, second pulley; 52, transmission belt; 53, first transmission gear; 54, second transmission gear; 60, second limit adapter; 61, first support member; 62, second support member; 71, first rotating bearing; 72, second rotating bearing; 73, third rotating bearing; 74, first bearing stopper; 75, second bearing stopper; 76, corrugated gasket; 77, corrugated gasket retaining ring; 81, magnetic member; 82, magnetic encoder; 90, housing. DETAILED DESCRIPTION

[0053] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0054] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0055] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0056] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0057] The specific implementation of the present application is described below in conjunction with the accompanying drawings.

[0058] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0059] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0060] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0061] The embodiments of the present application provide a rotatable device and a joint module, wherein the joint module can have both automatic rotation and manual rotation functions to meet customer needs.

[0062] The rotatable device provided in the embodiment of the present application includes a load and a joint module. The joint module includes: a rotating shaft, a driving wheel, a power piece and a clutch assembly, wherein the rotating shaft is configured to drive the load to rotate synchronously; the driving wheel is rotatably mounted on the rotating shaft; the power piece is connected to the driving wheel in a transmission manner, and the power piece is configured to apply a driving force to the driving wheel to rotate the driving wheel relative to the rotating shaft when outputting power, and can be mutually locked with the driving wheel when not outputting power; the clutch assembly includes a first component and a second component, wherein the first component is configured to be connected to the driving wheel and can rotate synchronously with the driving wheel relative to the rotating shaft; the second component is configured to be connected to the rotating shaft and the rotational movement relative to the rotating shaft is locked; wherein the first component and the second component are configured to switch between a separated state and a combined state; in the separated state, the first component and the second component can rotate relative to each other so that the driving wheel can rotate relative to the rotating shaft; in the combined state, the relative rotational movement between the first component and the second component is locked so that the driving wheel and the rotating shaft can rotate synchronously.

[0063] In the above scheme, when the power part outputs power, a driving force can be applied to the driving wheel to rotate the driving wheel relative to the rotating shaft, and the rotating shaft can drive the load to rotate synchronously. When the power part does not output power, the driving wheel is locked with each other. The clutch assembly includes a first component and a second component. The first component is constructed to be connected to the driving wheel and can rotate synchronously with the driving wheel relative to the rotating shaft. The second component is constructed to be connected to the rotating shaft and the rotational movement relative to the rotating shaft is locked, and the first component and the second component can be separated or combined.

[0064] In this way, when the power member outputs power, the driving wheel transmits the deflection torque received to the first member connected thereto. At this time, the first member and the second member may be in a combined state, and the first member continues to transmit the deflection torque to the second member. Since the second member is connected to the rotating shaft and the rotational movement of the second member relative to the rotating shaft is locked, the second member transmits the deflection torque to the rotating shaft, thereby driving the rotating shaft to rotate, thereby realizing the function of automatically rotating the load.

[0065] When the power component does not output power, the driving wheel and the power component are locked with each other (i.e., relatively stationary). If the user manually rotates the load, the rotating shaft connected to the load is subjected to a deflection torque and transmits the deflection torque to the second component. At this time, if the first component and the second component are in a separated state, the second component can rotate relative to the first component, thereby realizing the function of manually rotating the load.

[0066] It can be seen that the rotatable device and joint module provided in the embodiment of the present application, by setting a clutch component in the joint module, enable the joint module to have both manual rotation and automatic rotation functions, and the structure is simple.

[0067] For ease of understanding, refer to Figures 1 to 10 , the specific structure and working principle of the rotatable device and joint module of the present application are explained in detail in combination with an embodiment.

[0068] The rotatable device provided in the embodiment of the present application includes a load and a joint module. The load may include but is not limited to a display screen and the like.

[0069] Please combine Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the joint module includes: a rotating shaft 10, a driving wheel 20, a power piece 30 and a clutch assembly 40, wherein the rotating shaft 10 is configured to drive the load to rotate synchronously; the driving wheel 20 is configured to be rotatably mounted on the rotating shaft 10; the power piece 30 is transmission-connected with the driving wheel 20, and the power piece 30 is configured to apply a driving force to the driving wheel 20 to rotate the driving wheel 20 relative to the rotating shaft 10 when outputting power, and the power piece 30 is also configured to be mutually locked with the driving wheel 20 when not outputting power; the clutch assembly 40 includes a first component 41 and a second component 42, and the first component 41 is configured to be connected The first member 41 and the second member 42 are connected to the driving wheel 20 and can rotate relative to the rotating shaft 10 synchronously with the driving wheel 20; the second member 42 is constructed to be connected to the rotating shaft 10, and the rotational movement relative to the rotating shaft 10 is locked; wherein the first member 41 and the second member 42 are constructed to be switchable between a separated state and a combined state; in the separated state, the first member 41 and the second member 42 can rotate relative to each other so that the driving wheel 20 can rotate relative to the rotating shaft 10; in the combined state, the relative rotational movement between the first member 41 and the second member 42 is locked so that the driving wheel 20 and the rotating shaft 10 can rotate synchronously.

[0070] In the above scheme, when the power piece 30 outputs power, a driving force is applied to the driving wheel 20 to rotate the driving wheel 20 relative to the rotating shaft 10, and the rotating shaft 10 can drive the load to rotate synchronously. When the power piece 30 does not output power, it is locked with the driving wheel 20; the clutch assembly 40 includes a first component 41 and a second component 42, and the first component 41 is constructed to be connected to the driving wheel 20 and can rotate synchronously with the driving wheel 20 relative to the rotating shaft 10; the second component 42 is constructed to be connected to the rotating shaft 10, and the rotational movement relative to the rotating shaft 10 is locked, and the first component 41 and the second component 42 can be separated or combined.

[0071] In this way, when the power member 30 outputs power, the driving wheel 20 is subjected to a deflection torque and transmits the deflection torque to the first member 41 connected thereto. At this time, the first member 41 and the second member 42 may be in a combined state, so the first member 41 continues to transmit the deflection torque to the second member 42. Since the second member 42 is connected to the rotating shaft 10 and the rotational movement of the second member 42 relative to the rotating shaft 10 is locked, the second member 42 transmits the deflection torque to the rotating shaft 10 to drive the rotating shaft 10 to rotate, thereby realizing the function of automatically rotating the load.

[0072] When the power member 30 does not output power, the driving wheel 20 and the power member 30 are locked with each other (i.e., relatively stationary). If the user manually rotates the load, the rotating shaft 10 connected to the load is subjected to a deflection torque and transmits the deflection torque to the second member 42. At this time, if the first member 41 and the second member 42 are in a separated state, the second member 42 can rotate relative to the first member 41, thereby realizing the function of manually rotating the load.

[0073] It can be seen that the rotatable device and joint module provided in the embodiment of the present application, by setting a clutch assembly 40 in the joint module, enable the joint module to have both manual rotation and automatic rotation functions, and the structure is simple.

[0074] It should be noted that the switching between the separation state and the combination state of the first component 41 and the second component 42 can be controlled by the magnitude of the relative deflection moment between the first component 41 and the second component 42 .

[0075] Specifically, the critical torque value for relative rotation between the first component 41 and the second component 42 is set to a preset torque value. When a deflection torque greater than or equal to the preset torque value is applied to either of the first component 41 and the second component 42 relative to the other, the first component 41 and the second component 42 will be in a separated state, and the first component 41 and the second component 42 can rotate relative to each other; when a deflection torque less than the preset torque value is applied to either of the first component 41 and the second component 42 relative to the other, the first component 41 and the second component 42 will be in a combined state, and the first component 41 and the second component 42 cannot rotate relative to each other, and the two are locked with each other.

[0076] Thus, in the automatic rotation mode, when the power piece 30 outputs power, the position of the power piece 30 can be constructed to remain stationary, and the driving wheel 20 transmits the deflection torque received to the first member 41. Since the second member 42 can rotate with the rotating shaft, the deflection torque between the first member 41 and the second member 42 is less than the preset torque value, that is, the deflection torque is not enough to cause the first member 41 and the second member 42 to rotate relative to each other. At this time, the first member 41 and the second member 42 can be in a combined state, so that the power piece 30 transmits the deflection torque to the driving wheel 20, and the driving wheel 20 transmits the deflection torque to the rotating shaft 10 through the combined first member 41 and the second member 42, thereby driving the rotating shaft 10 to rotate;

[0077] When the power member 30 does not output power, the driving wheel 20 and the power member 30 are locked with each other, that is, the driving wheel 20 will be restricted by the power member 30 and remain stationary, so that the first component 41 remains stationary; if the user manually rotates the load, the load transfers the deflection torque to the second component 42 through the rotating shaft 10. If the deflection torque is less than the preset torque value at this time, the first component 41 and the second component 42 are still in a combined state, and the load cannot rotate; if the deflection torque is greater than or equal to the preset torque value at this time, the first component 41 and the second component 42 will be separated, and the two will rotate relative to each other, and the second component 42 will rotate together with the rotating shaft 10 and the load, thereby realizing the function of manually rotating the load.

[0078] In the above solution, the switching between the separation state and the combination state between the first component 41 and the second component 42 is controlled by the magnitude of the relative deflection torque between the two, which has a simple structure and is easy to operate.

[0079] It should be understood that in practical applications, the switching between the separation state and the combination state between the first component 41 and the second component 42 can also be achieved in other ways. For example, the first component 41 and the second component 42 can also be matched in a magnetic attraction manner, and the separation or combination state between the two can be switched by controlling the magnetic attraction between the two.

[0080] There may be various specific structures of the first component 41 and the second component 42 in the clutch assembly 40 , which are described below in conjunction with two exemplary embodiments.

[0081] In one embodiment of the present application, Figures 1 to 3 As shown, the first component 41 includes a first friction plate 411 , and the second component 42 includes a second friction plate 421 . The first friction plate 411 and the second friction plate 421 are both coaxially arranged with the rotating shaft 10 , and are frictionally matched with each other.

[0082] With the above solution, the first friction plate 411 and the second friction plate 421 are frictionally matched. When the relative deflection torque between the two is greater than the friction resistance between the two, the two are separated and relatively rotated. When the relative deflection torque between the two is less than the friction resistance between the two, the two are combined and cannot be relatively rotated. In this way, due to the existence of friction resistance, it is possible to avoid excessive deflection torque from causing damage to the power member 30 and the drive wheel 20 and other components, and the entire manual rotation process is relatively smooth.

[0083] In this embodiment, for example, Figure 1As shown, the first friction plate 411 includes a first mating end face for frictionally mating with the second friction plate 421, and the second friction plate 421 includes a second mating end face for frictionally mating with the first friction plate 411; wherein, one of the first mating end face and the second mating end face has a plurality of first protrusions (4111) 4111 distributed along the circumferential direction at intervals, and the other has a plurality of first recesses 4211 distributed along the circumferential direction at intervals for the first protrusions (4111) 4111 to be embedded, wherein the first protrusions (4111) 4111 can be embedded in or out of the first recesses 4211.

[0084] By adopting the above solution, when the first friction plate 411 and the second friction plate 421 are combined, the first convex portion (4111) 4111 can be embedded in the first concave portion 4211, and the preset torque value is the critical torque value at which the first convex portion (4111) 4111 can be separated from the first concave portion 4211. When the relative deflection torque between the first friction plate 411 and the second friction plate 421 is less than the preset torque value, the first convex portion (4111) 4111 will not be separated from the first concave portion 4211; when the relative deflection torque between the first friction plate 411 and the second friction plate 421 is greater than or equal to the preset torque value, the first convex portion (4111) 4111 will be separated from the first concave portion 4211.

[0085] Since the plurality of first convex portions (4111) 4111 and the plurality of first concave portions 4211 are respectively distributed at intervals along the circumferential direction on the end surfaces of the two friction plates, when a first convex portion (4111) 4111 is separated from a first concave portion 4211, it will continue to rotate and be embedded in the next first concave portion 4211, so that between the starting rotation angle and the maximum rotation angle of the load, each rotation of a predetermined angle can generate a somatosensory position feedback, thereby improving the user experience. Moreover, when the load rotates to the middle position between the starting rotation angle and the maximum rotation angle, as long as it rotates a predetermined angle, the first convex portion (4111) 4111 can be combined with the first concave portion 4211 closest to it, so as to limit the load and avoid the phenomenon of load swinging.

[0086] In some exemplary embodiments, the first convex portion (4111) 4111 may be configured as a boss, and the first concave portion 4211 may be configured as a groove. Of course, it is understandable that the first convex portion (4111) 4111 may also be configured as any suitable structure such as a spring.

[0087] Furthermore, in some exemplary embodiments, the boss may be configured as a trapezoidal boss, and the groove may be configured as a trapezoidal groove.

[0088] With the above solution, the inclined surfaces of the trapezoidal boss and the trapezoidal groove will slide together, making it easy for the boss to disengage from the groove and for the boss to slide into the adjacent groove. The magnitude of the preset torque value may be related to the specific structure of the boss and the groove.

[0089] It should be noted that, in the above solution, the size of the predetermined angle depends on the spacing distance between two adjacent first protrusions (4111) 4111 and between two adjacent first recesses 4211.

[0090] In some exemplary embodiments, Figure 1 and Figure 3 As shown, the second friction plate 421 is constructed to be axially movable relative to the rotating shaft 10; the clutch assembly 40 also includes: an elastic damping member 430, the elastic damping member 430 is limited and stopped along one side of the axial direction of the rotating shaft 10, and the other end of the elastic damping member 430 along the axial direction of the rotating shaft 10 abuts against the second friction plate 421 to apply an elastic force directed to the first friction plate 411 to the second friction plate 421.

[0091] By adopting the above scheme, an elastic damping member 430 is provided to apply an elastic force directed to the first friction plate 411 to the second friction plate 421, so that a pre-tightening force can be provided for the first friction plate 411 and the second friction plate 421 to eliminate the matching clearance between the first friction plate 411 and the second friction plate 421; and when the load is manually rotated, if the first friction plate 411 and the second friction plate 421 rotate relative to each other, the first convex portion (4111) 4111 is separated from the first concave portion 421, which will push the second friction plate 421 to slightly axially displace, compressing the elastic damping member 430. At this time, the elastic damping member 430 applies a reaction force directed to the first friction plate 411 to the second friction plate 421, thereby slowing down the axial displacement speed of the second friction plate 421 and preventing the second friction plate 421 from being rapidly axially displaced, so as to avoid the first friction plate 411 and the second friction plate 421 from being completely separated from the matching end faces, which will cause the load to rotate faster.

[0092] In some exemplary embodiments, the elastic damping member 430 may be a wave spring. One end of the wave spring along the axial direction of the rotating shaft 10 is limited and stopped, and the other end is in contact with the second friction plate 421, which has a simple structure and is easy to assemble. Of course, the elastic damping member 430 may also be any suitable component such as a damper, a damping spring, a spring, etc.

[0093] In some exemplary embodiments, Figure 1 and Figure 3As shown, the clutch assembly 40 further includes an axial limit stopper 441, which is connected to the rotating shaft 10 and is locked relative to the axial movement of the rotating shaft 10. For example, the axial limit stopper 441 can be configured to be fixedly connected to the rotating shaft 10 by screws or the like. Along the axial direction of the rotating shaft 10, the second friction plate 421 is located between the first friction plate 411 and the axial limit stopper 441, and the elastic damping member 430 abuts between the axial limit stopper 441 and the second friction plate 421.

[0094] By adopting the above solution, the elastic damping member 430 is axially limited and stopped by setting the axial limit stopper 441 on the rotating shaft 10, and the structure is simple. Of course, it can be understood that in other embodiments not shown, the way in which one end of the elastic damping member 430 is axially limited and stopped is not limited to this.

[0095] In some exemplary embodiments, Figure 1 As shown, the axial limit stop 441 can be separately sleeved on the rotating shaft 10 and fixedly connected to the rotating shaft 10. For example, the axial limit stop 441 can be constructed as a stop plate or a stop disk structure; or, the axial limit stop 441 can also be connected to the rotating shaft 10 as a whole. For example, a flange is provided on the outer peripheral surface of the rotating shaft 10, and the flange forms the axial limit stop 441.

[0096] In some exemplary embodiments, Figure 1 As shown, the clutch assembly 40 also includes a circumferential limit stop 442, which is constructed to be sleeved on the rotating shaft 10 and locked in circumferential movement relative to the rotating shaft 10; the second friction plate 421 is sleeved outside the circumferential limit stop 442; a first limit portion 4212 is provided on one of the inner circumferential surface of the second friction plate 421 and the outer circumferential surface of the circumferential limit stop 442, and a first limit adapter portion 4421 is provided on the other, and the first limit portion 4212 cooperates with the first limit adapter portion 4421 to lock the circumferential movement of the second friction plate 421 relative to the rotating shaft 10.

[0097] By adopting the above scheme, a circumferential limit stop 442 is sleeved on the rotating shaft 10, and the second friction plate 421 is sleeved on the axial limit stop 441. The first limit portion 4212 cooperates with the first limit adapter portion 4421 to limit the second friction plate 421 from rotating relative to the rotating shaft 10.

[0098] In some exemplary embodiments, Figure 1As shown, the circumferential limit stopper 442 is configured as a sleeve sleeved on the rotating shaft 10, the first limit portion 4212 can be configured as a convex ridge, and the first limit adapter portion 4421 can be configured as a groove. It can be understood that the structure of the circumferential limit stopper 442 is not limited to this. For example, the circumferential limit stopper 442 can also be sleeved on the outside of the second friction plate 421, or the circumferential limit stopper 442 can be configured as a convex ridge directly integrally formed on the rotating shaft 10. In addition, the specific structure of the first limit portion 4212 is not limited to the convex ridge, and the specific structure of the first limit adapter portion 4421 is not limited to the groove.

[0099] In some exemplary embodiments, Figure 1 As shown, the axial limit stopper 441 and the circumferential limit stopper 442 can be connected as an integral structure. In other words, the axial limit stopper 441 and the circumferential limit stopper 442 are constructed as an integral component, which is simpler in structure and more convenient in assembly operation. Figure 1 As shown in the example, the axial limit stopper 441 and the axial limit stopper 441 are constructed as a limit sleeve 440 of an integral structure.

[0100] In another embodiment of the present application, Figure 4 , Figure 8 , Fig. 9 and Fig.10 As shown, one of the first component 41 and the second component 42 includes a dividing plate 412, and the other includes an annular frame 422; the annular frame 422 and the dividing plate 412 are both coaxially arranged with the rotating shaft 10, and the annular frame 422 is arranged around the circumferential periphery of the dividing plate 412, and a plurality of second protrusions 4121 are circumferentially spaced apart on one of the inner circumferential surface of the annular frame 422 and the outer circumferential surface of the dividing plate 412, and a plurality of radial expansion portions 4221 are spaced apart on the other, and a second recess 4122 is formed between two adjacent second protrusions 4121, and the radial expansion portion 4221 is constructed to be radially retractable when squeezed by the second protrusion 4121, so that the radial expansion portion 4221 can be embedded in or out of the second recess 4122.

[0101] In the above solution, the outer circumference of the dividing plate 412 and the inner circumference of the annular frame 422 are connected or separated by the radial expansion portion 4221 and the second protrusion 4121 .

[0102] Specifically, when the relative deflection moment between the indexing plate 412 and the annular frame 422 is large enough, the radial telescopic portion 4221 will be squeezed by the second convex portion 4121 and retracted to disengage from the second concave portion 4122, and continue to rotate to be embedded in the next second concave portion 4122. In this way, between the starting rotation angle and the maximum rotation angle of the load, each rotation of a predetermined angle can generate somatosensory position feedback, thereby improving the user experience. By adjusting the distribution density of the second convex portion 4121 on the indexing plate 412 or the annular frame 422, the size of the predetermined angle can be adjusted to adapt to different products, different loads and different user scenarios.

[0103] In some exemplary embodiments, Figure 4 As shown, the second convex portion 4121 is disposed on the outer circumferential surface of the dividing plate 412 , and the radial expansion portion 4221 is disposed on the annular frame 422 .

[0104] In some exemplary embodiments, Figure 4 , Figure 6 and Figure 7 As shown, the second convex part 4121 is constructed as a V-shaped or trapezoidal convex block, the second concave part 4122 is a V-shaped or trapezoidal indexing groove, and the radial telescopic part 4221 can be constructed as an elastic deformable part 4221'. In this way, when the relative deflection moment between the indexing plate 412 and the annular frame 422 is large enough, the inclined surface of the V-shaped or trapezoidal indexing groove will gradually squeeze the elastic deformable part, so that the elastic deformable part is compressed and deformed and can be separated from the second concave part 4122. During the rotation of the load, as long as it rotates a predetermined angle, the elastic deformable part can be combined with the indexing groove closest to it, avoiding the phenomenon of load swaying and improving the user experience.

[0105] In some exemplary embodiments, Figure 4 , Figure 6 and Figure 7 As shown, the elastic deformable member 4221' is constructed as a spring, such as a metal spring. In this way, when the spring moves from one indexing groove to the next indexing groove, a position feedback with a metallic texture will be generated, bringing a better user experience. Of course, it is understandable that the radial telescopic portion 4221 can also be implemented by any other suitable structure, such as a damper, a damping spring, an elastic block, etc.

[0106] In some exemplary embodiments, the radial expansion portion 4221 is constructed to be pre-compressed when embedded in the second recess 4122 , thereby providing a pre-clamping force between the dividing plate 412 and the annular frame 422 to eliminate the fitting clearance between the dividing plate 412 and the annular frame 422 .

[0107] If the power component 30 is directly connected to the driving wheel 20, the output shaft of the power component 30 must be coaxial with the driving wheel 20. Then, the power component 30 can only be arranged along the axial extension direction of the driving wheel 20, which is not conducive to achieving a compact design, and the transmission ratio of the power component 30 and the driving wheel 20 is limited.

[0108] In one embodiment of the present application, Figure 1 As shown, the driving wheel 20 includes a gear member 21 with gear teeth arranged circumferentially, and the joint module also includes a transmission assembly 50, which is meshed with the gear member 21, and the transmission assembly 50 is constructed to be driven by the power member 30 to drive the driving wheel 20 to rotate.

[0109] By adopting the above solution and providing the transmission assembly 50 , the relative position arrangement of the power member 30 and the driving wheel 20 is more flexible, and the transmission ratio between the two can be reasonably adjusted through the transmission assembly 50 .

[0110] In some exemplary embodiments, the driving wheel 20 may be configured as a gear member 21 , the power member 30 may be configured as a motor, and the output shaft of the motor may be meshed with the outer periphery of the gear member 21 through the transmission assembly 50 .

[0111] In other embodiments of the present application, Figure 4 As shown, the driving wheel 20 includes a first pulley 22, and the joint module also includes a transmission assembly 50, the transmission assembly 50 includes a second pulley 51 and a transmission belt 52, the first pulley 22 and the second pulley 51 are connected by the transmission belt 52, and the second pulley 51 is constructed to be driven to rotate by the power member 30.

[0112] By adopting the above solution and providing the transmission assembly 50 , the relative position arrangement of the power member 30 and the driving member is more flexible, and the transmission ratio between the two can be reasonably adjusted through the transmission assembly 50 .

[0113] In some exemplary embodiments, the power member 30 may be constructed as a motor, etc., the driving wheel 20 may be constructed as a first pulley 22, the diameter of the first pulley 22 may be larger than the diameter of the second pulley 51, and the output shaft of the motor may apply a deflection torque to the first pulley 22 through the second pulley 51.

[0114] In some embodiments of the present application, Figure 5As shown, the output end of the power member 30 is constructed as a worm 31; the transmission assembly 50 includes a first transmission gear 53, and the first transmission gear 53 is constructed as a turbine connected to the worm 31. In this way, the power member 30 and the first transmission gear 53 adopt a worm gear 31 transmission mode, which has a self-locking performance, that is, the transmission of the turbine worm 31 can only be driven by the worm 31. When the power member 30 outputs rotational power, the first transmission gear 53 is driven to rotate, thereby driving the drive wheel 20 to rotate; when the power member 30 does not output rotational power, the worm 31 and the turbine are relatively locked, that is, the drive wheel 20 and the power member 30 are locked with each other.

[0115] In one embodiment of the present application, Figure 5 As shown, the transmission assembly 50 may further include a second transmission gear 54, the first transmission gear 53 may be configured as a double helical gear, the second transmission gear 54 may be configured as a double spur gear, both the double helical gear and the double spur gear include a first stage gear and a second stage gear, the first stage gear in the first transmission gear 53 is transmission-connected to the worm 31 at the output end of the power member 30, and the second stage gear is transmission-connected to the first stage gear of the second transmission gear 54, wherein the second stage gear of the second transmission gear 54 is meshed with the driving wheel 20, or the second stage gear of the second transmission gear 54 is meshed with the input shaft of the second pulley 51. Of course, it can be understood that the specific structure of the transmission assembly 50 is not limited thereto.

[0116] In one embodiment of the present application, the joint module also includes two support members arranged at intervals along the axial direction of the rotating shaft 10, and the support members are provided with axial holes. The rotating shaft 10 is rotatably installed in the axial holes of the two support members through rotating bearings, and the power member 30 is fixed on one of the support members.

[0117] like Figure 1 As shown, the two supports are respectively a first support 61 and a second support 62, and the rotating shaft 10 is rotatably mounted on the shaft hole of the first support 61 through a first rotating bearing 71, and is rotatably mounted on the shaft hole of the second support 62 through a second rotating bearing 72. The two supports serve as the basic carriers of the joint module, and play a role in bearing and protecting the rotating shaft 10. The supports can be fixed to other objects in the rotatable device, for example, the rotatable device can also include a base, which serves as the basic carrier of the rotatable device and can carry the joint module, and the load can rotate relative to the base through the joint module.

[0118] The joint module may further include a box 90, in which the power member 30 is installed, and the box 90 is fixed on the support member, and the box 90 can carry and protect the power member 30. The driving wheel 20 is rotatably mounted on the rotating shaft 10 through a third rotating bearing. The axial end of the rotating shaft 10 connected to the load is marked as the front end, and the other axial end opposite to the front end is marked as the rear end, and the first support member 61 is arranged closer to the front end than the second support member 62.

[0119] In one embodiment of the present application, Figure 1 As shown, the power member 30 is installed on the second support member 62 , at which time the power member 30 is installed at the rear end of the rotating shaft 10 , the load is installed at the front end of the rotating shaft 10 , and the driving wheel 20 can be installed at a position close to the rear end of the rotating shaft 10 .

[0120] Specifically, the driving wheel 20 and the clutch assembly 40 are both located on the rotating shaft 10 and between the first support member 61 and the second support member 62. In this way, the components of the entire joint module are compactly arranged in space.

[0121] In one embodiment of the present application, Figure 1 As shown, along the axial direction of the rotating shaft 10, the limiting sleeve, the elastic damping member 430, the second friction plate 421, the first friction plate 411 and the driving wheel 20 are arranged in sequence from the front end to the rear end.

[0122] In another embodiment of the present application, as shown in the figure, along the axial direction of the rotating shaft 10 , the clutch assembly 40 is located on a side of the driving wheel 20 close to the front end.

[0123] In one embodiment of the present application, Figure 1 and Figure 3 As shown, the front end of the rotating shaft 10 is connected to a mounting plate 11, and the mounting plate 11 is used to connect a load. The rear end of the rotating shaft 10 is also provided with a first bearing stopper 74 to axially limit the third rotating bearing. The rear side of the second rotating bearing 72 is also provided with a second bearing stopper 75, and the second bearing stopper 75 can be fixedly connected to the rotating shaft to axially limit the second rotating bearing 72 through the second bearing stopper 75. The first rotating bearing 71 and the second rotating bearing 72 can radially limit the rotating shaft 10.

[0124] In one embodiment of the present application, a corrugated gasket 76 and a corrugated gasket retaining ring 77 are further provided between the first bearing stopper 74 and the second rotating bearing 72 to prevent the rotating shaft 10 from loosening during rotation and to mitigate the impact.

[0125] In one embodiment of the present application, the joint module further includes: a magnetic member 81 and a magnetic encoder 82, wherein the magnetic member 81 is disposed on one of the rotating shaft 10 and the supporting member, and the magnetic encoder 82 is disposed on the other of the rotating shaft 10 and the supporting member, and the magnetic member 81 and the magnetic encoder 82 rotate relative to each other as the rotating shaft 10 rotates. In this way, the purpose of measuring the rotation angle of the rotating shaft 10 can be achieved by cooperating with the magnetic encoder 82 and the magnetic member 81.

[0126] In one embodiment of the present application, the rotatable device may further include a controller, which is communicatively connected to the magnetic encoder 82, and the magnetic encoder 82 is configured to obtain the angular displacement of the magnetic part 81 and convert the angular displacement into an electrical signal; the controller is configured to obtain the current rotation angle of the rotating shaft 10 based on the electrical signal fed back by the magnetic encoder 82; and output a control instruction for controlling the working state of the power part 30 based on the target rotation angle and the current rotation angle.

[0127] In one embodiment of the present application, after completing an automatic rotation or manual rotation action, based on the rotation angle measurement result of the magnetic encoder 82, if the current rotation angle does not reach the target value, the controller can send the same control instruction as the previous rotation behavior to the power member 30 to control the rotating shaft 10 to continue rotating until the target angle is reached. In this way, it is helpful to eliminate the gear transmission gap.

[0128] In one embodiment of the present application, a second limit portion 12 is provided on the outer circumference of the rotating shaft 10, and a second limit adapter portion 60 is provided on the inner circumference of the shaft hole of the support member, and the second limit portion 12 cooperates with the second limit adapter portion 60 to limit the rotation angle of the rotating shaft 10 relative to the support member. In this way, the rotation action of the joint module is more controllable, and the rotation angle of the joint module can be effectively controlled to work within a specified range to avoid injuries when colliding with others.

[0129] In one embodiment of the present application, Figure 1 As shown, the second limiting portion 12 includes a limiting groove provided on the outer circumferential surface of the rotating shaft 10, and the second limiting adapter portion 60 includes a limiting protrusion provided on the circumferential edge of the shaft hole of the support member, the circumferential width of the limiting protrusion is smaller than the circumferential width of the limiting groove, and when the rotating shaft 10 rotates, the limiting groove rotates relative to the limiting protrusion, and when the two opposite side walls of the limiting groove along the circumference of the rotating shaft 10 contact the limiting protrusion, the rotating shaft 10 can be prevented from continuing to rotate, so as to limit the rotation angle of the rotating shaft 10. Of course, it can be understood that the specific structure of the second limiting portion 12 and the second limiting adapter portion 60 is not limited thereto.

[0130] In summary, the joint module in the rotatable device provided in the embodiment of the present application has a simple structure, low cost, and has both automatic rotation and manual rotation functions.

[0131] According to a second aspect of the present application, a joint module is provided, comprising: a rotating shaft 10, a driving wheel 20, a power piece 30 and a clutch assembly 40, wherein the rotating shaft 10 is configured to drive a load to rotate synchronously; the driving wheel 20 is rotatably mounted on the rotating shaft 10; the power piece 30 is transmission-connected with the driving wheel 20, and the power piece 30 is configured to apply a driving force to the driving wheel 20 to rotate the driving wheel 20 relative to the rotating shaft 10 when outputting power, and can be mutually locked with the driving wheel 20 when not outputting power; the clutch assembly 40 comprises a first component 41 and a second component 42, and the first component 41 is configured to It is connected to the driving wheel 20 and can rotate synchronously with the driving wheel 20 relative to the rotating shaft 10; the second member 42 is constructed to be connected to the rotating shaft 10, and the rotational movement relative to the rotating shaft 10 is locked; the first member 41 and the second member 42 are also constructed to have a separation state and a combination state between the two; wherein in the separation state, the first member 41 and the second member 42 can rotate relative to each other so that the driving wheel 20 can rotate relative to the rotating shaft 10; in the combination state, the relative rotational movement between the first member 41 and the second member 42 is locked, so that the driving wheel 20 and the rotating shaft 10 can rotate synchronously.

[0132] In the joint module provided in the embodiment of the present application, when the power part 30 outputs power, a driving force can be applied to the driving wheel 20 to rotate the driving wheel 20 relative to the rotating shaft 10, and the rotating shaft 10 can drive the load to rotate synchronously, and when the power part 30 does not output power, it is locked with the driving wheel 20; the clutch assembly 40 includes a first component 41 and a second component 42, the first component 41 is constructed to be connected to the driving wheel 20, and can rotate synchronously with the driving wheel 20 relative to the rotating shaft 10; the second component 42 is constructed to be connected to the rotating shaft 10, and the rotational movement relative to the rotating shaft 10 is locked, and the first component 41 and the second component 42 can be separated or combined.

[0133] In this way, when the power member 30 outputs power, a driving force is applied to the driving wheel 20, so that the first member 41 connected to the driving wheel 20 is subjected to a deflection torque. At this time, the first member 41 and the second member 42 may be in a combined state. Therefore, the first member 41 transmits the deflection torque to the second member 42. Since the second member 42 is connected to the rotating shaft 10 and the rotational movement relative to the rotating shaft 10 is locked, the second member 42 transmits the deflection torque to the rotating shaft 10, thereby driving the rotating shaft 10 to rotate, thereby realizing the function of automatically rotating the load;

[0134] When the power member 30 does not output power, the driving wheel 20 and the power member 30 are locked with each other. If the user manually rotates the load, the rotating shaft 10 connected to the load is subjected to a deflection torque and transmits the deflection torque to the second member 42 connected to the rotating shaft 10. At this time, if the first member 41 and the second member 42 are in a separated state, the second member 42 can rotate relative to the first member 41, thereby realizing the function of manually rotating the load.

[0135] It can be seen that the joint module provided in the embodiment of the present application, by setting a clutch assembly 40 in the joint module, enables the joint module to have both manual rotation and automatic rotation functions, and has a simple structure.

[0136] The technical solution provided in the embodiments of the present application is described below in conjunction with specific application scenarios.

[0137] Application Scenario

[0138] like Figure 1 As shown, the rotatable device provided in the embodiment of the present application includes a load and a joint module, the joint module includes a rotating shaft 10, a driving wheel 20, a power member 30 and a clutch assembly 40, when the power member 30 outputs power, it can apply a driving force to the driving wheel 20 to rotate the driving wheel 20 relative to the rotating shaft 10, and the rotating shaft 10 can drive the load to rotate synchronously, and when the power member 30 does not output power, it is locked with the driving wheel 20; the clutch assembly 40 includes a first component 41 and a second component 42, the first component 41 is constructed to be connected to the driving wheel 20, and can rotate synchronously with the driving wheel 20 relative to the rotating shaft 10; the second component 42 is constructed to be connected to the rotating shaft 10, and the rotational movement relative to the rotating shaft 10 is locked, and the first component 41 and the second component 42 can be separated or combined.

[0139] In this way, when the power member 30 outputs power, a driving force is applied to the driving wheel 20, so that the first member 41 connected to the driving wheel 20 is subjected to a deflection torque. At this time, the deflection torque on the first member 41 is less than the preset torque value, and the first member 41 is combined with the second member 42. The first member 41 transmits the deflection torque to the second member 42. Since the second member 42 is connected to the rotating shaft 10 and the rotational movement relative to the rotating shaft 10 is locked, the second member 42 transmits the deflection torque to the rotating shaft 10, thereby driving the rotating shaft 10 to rotate, and realizing the function of automatically rotating the load;

[0140] When the power member 30 does not output power, the driving wheel 20 and the power member 30 are locked with each other (i.e., relatively stationary). If the user manually rotates the load, the rotating shaft 10 connected to the load is subjected to a deflection torque, and the deflection torque is transmitted to the second member 42 connected to the rotating shaft 10. At this time, when the deflection torque on the first member 41 is greater than or equal to the preset torque value, the first member 41 is separated from the second member 42, and the second member 42 is rotatable relative to the first member 41, thereby realizing the function of manually rotating the load.

[0141] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present application is defined by the appended claims.

Claims

1. A rotatable device, comprising a load and a joint module; characterized in that: The joint module comprises: A rotating shaft (10) is configured to drive the load to rotate synchronously; A driving wheel (20) rotatably mounted on the rotating shaft (10); a power member (30) drivingly connected to the driving wheel (20), the power member (30) being configured to apply a driving force to the driving wheel (20) so as to rotate the driving wheel (20) relative to the rotating shaft (10) when outputting power, and to be mutually locked with the driving wheel (20) when not outputting power; and A clutch assembly (40) comprising a first component (41) and a second component (42), wherein the first component (41) is configured to be connected to the driving wheel (20) and can rotate relative to the rotating shaft (10) synchronously with the driving wheel (20); and the second component (42) is configured to be connected to the rotating shaft (10) and the rotational movement relative to the rotating shaft (10) is locked; Wherein, the first component (41) and the second component (42) are configured to be switchable between a separated state and a combined state; In the separated state, the first component (41) and the second component (42) can rotate relative to each other, so that the driving wheel (20) can rotate relative to the rotating shaft (10); in the combined state, the relative rotational movement between the first component (41) and the second component (42) is locked, so that the driving wheel (20) and the rotating shaft (10) can rotate synchronously.

2. The rotatable device according to claim 1, characterized in that The first component (41) includes a first friction plate (411), and the second component (42) includes a second friction plate (421). The first friction plate (411) and the second friction plate (421) are both coaxially arranged with the rotating shaft (10), and are frictionally matched with each other.

3. The rotatable device according to claim 2, characterized in that The first friction plate (411) includes a first mating end face for frictionally mating with the second friction plate (421), and the second friction plate (421) includes a second mating end face for frictionally mating with the first friction plate (411); wherein, one of the first mating end face and the second mating end face has a plurality of first protrusions (4111) distributed at intervals along the circumferential direction, and the other has a plurality of first recesses (4211) distributed at intervals along the circumferential direction for the first protrusions (4111) to be embedded in. The first protrusions (4111) can be embedded in or out of the first recesses (4211).

4. The rotatable device according to claim 2, characterized in that The second friction plate (421) is constructed to be axially movable relative to the rotating shaft (10); the clutch assembly (40) further includes: an elastic damping member (430), wherein the elastic damping member (430) is limited and stopped along one side of the axial direction of the rotating shaft (10), and the other end of the elastic damping member (430) along the axial direction of the rotating shaft (10) abuts against the second friction plate (421) to apply an elastic force directed toward the first friction plate (411) to the second friction plate (421).

5. The rotatable device according to claim 4, characterized in that The clutch assembly (40) further includes an axial limit stop (441), which is connected to the rotating shaft (10) and is locked in axial movement relative to the rotating shaft (10); along the axial direction of the rotating shaft (10), the second friction plate (421) is located between the first friction plate (411) and the axial limit stop (441), and the elastic damping member (430) is pressed between the axial limit stop (441) and the second friction plate (421).

6. The rotatable device according to claim 4, characterized in that The clutch assembly (40) also includes a circumferential limit stop (442), which is constructed to be sleeved on the rotating shaft (10) and locked in circumferential movement relative to the rotating shaft (10); the second friction plate (421) is sleeved outside the circumferential limit stop (442); wherein, a first limit portion (4212) is provided on one of the inner circumferential surface of the second friction plate (421) and the outer circumferential surface of the circumferential limit stop (442), and a first limit adapter portion (4421) is provided on the other, and the first limit portion (4212) cooperates with the first limit adapter portion (4421) to lock the circumferential movement of the second friction plate (421) relative to the rotating shaft (10).

7. The rotatable device according to claim 1, characterized in that One of the first component (41) and the second component (42) comprises a dividing plate (412), and the other comprises an annular frame (422); the annular frame (422) and the dividing plate (412) are both coaxially arranged with the rotating shaft (10), and the annular frame (422) is arranged around the circumferential periphery of the dividing plate (412); a plurality of second protrusions (4121) are circumferentially spaced apart on one of the inner circumferential surface of the annular frame (422) and the outer circumferential surface of the dividing plate (412); a plurality of radial expansion portions (4221) are spaced apart on the other; a second recess (4122) is formed between the plurality of second protrusions (4121); the radial expansion portions (4221) are constructed to be radially retractable when squeezed by the second protrusions (4121), so that the radial expansion portions (4221) can be embedded in or detached from the second recess (4122).

8. The rotatable device according to claim 7, characterized in that The radial expansion portion (4221) is constructed to be pre-compressed when embedded in the second recess (4122) to provide a pre-clamping force for clamping the dividing plate (412) and the annular frame (422).

9. The rotatable device according to claim 7, characterized in that The radially retractable portion (4221) includes an elastically deformable member (4221').

10. The rotatable device according to claim 1, characterized in that The driving wheel (20) comprises a gear member (21) provided with gear teeth in a circumferential direction, and the joint module further comprises a transmission assembly (50), the transmission assembly is meshed with the gear member (21), and the transmission assembly (50) is configured to be driven by the power member (30) to drive the driving wheel (20) to rotate; or, The driving wheel (20) includes a first pulley (22), and the joint module also includes a transmission assembly (50), and the transmission assembly (50) includes a second pulley (51) and a transmission belt (52). The first pulley (22) and the second pulley (51) are connected to each other via the transmission belt (52), and the second pulley (51) is configured to be driven to rotate by the power member (30).

11. The rotatable device according to claim 1, characterized in that The output end of the power member (30) is constructed as a worm gear (31); the joint module further comprises a transmission assembly (50) connected to the power member (30) and the drive wheel (20); the transmission assembly (50) comprises a first transmission gear (53); the first transmission gear (53) is constructed as a turbine connected to the worm gear (31).

12. The rotatable device according to claim 1, characterized in that The joint module also includes two supporting members arranged at intervals along the axial direction of the rotating shaft (10), and the supporting members are provided with axial holes. The rotating shaft (10) is rotatably installed in the axial holes of the two supporting members through the rotating shaft (10) bearings, and the power member (30) is fixed to one of the supporting members.

13. The rotatable device according to claim 12, characterized in that The joint module also includes: a magnetic component (81) and a magnetic encoder (82), wherein the magnetic component (81) is arranged on one of the rotating shaft (10) and the supporting component, and the magnetic encoder (82) is arranged on the other of the rotating shaft (10) and the supporting component. As the rotating shaft (10) rotates, the magnetic component (81) and the magnetic encoder (82) rotate relative to each other.

14. The rotatable device according to claim 12, characterized in that A second limiting portion (12) is provided on the outer circumference of the rotating shaft (10), and a second limiting adapter portion (60) is provided on the inner circumference of the shaft hole of the supporting member, and the second limiting portion (12) cooperates with the second limiting adapter portion (60) to limit the rotation angle of the rotating shaft (10) relative to the supporting member.

15. A joint module, characterized in that: include: A rotating shaft (10) is configured to drive a load to rotate synchronously; A driving wheel (20) rotatably mounted on the rotating shaft (10); a power member (30) drivingly connected to the driving wheel (20); the power member (30) drivingly connected to the driving wheel (20); the power member (30) being configured to apply a driving force to the driving wheel (20) so as to rotate the driving wheel (20) relative to the rotating shaft (10) when outputting power, and to be mutually locked with the driving wheel (20) when not outputting power; and A clutch assembly (40) comprising a first component (41) and a second component (42), wherein the first component (41) is configured to be connected to the driving wheel (20) and can rotate relative to the rotating shaft (10) synchronously with the driving wheel (20); and the second component (42) is configured to be connected to the rotating shaft (10) and the rotational movement relative to the rotating shaft (10) is locked; The first component (41) and the second component (42) are also constructed to have a separation state and a combination state between them; in In the separated state, the first component (41) and the second component (42) can rotate relative to each other, so that the driving wheel (20) can rotate relative to the rotating shaft (10); In the combined state, the relative rotational movement between the first member (41) and the second member (42) is locked, so that the driving wheel (20) and the rotating shaft (10) can rotate synchronously.

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